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Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control

基于全分布式事件驱动控制的多智能体系统领导-跟随一致性研究

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Abstract

This paper aims to study the leader-following consensus of linear multi-agent systems on undirected graphs. Specifically, we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative information. This protocol is also resource-friendly as it will be updated only when the agent violates the designed event-triggering function. A sufficient condition is proposed for the leader-following consensus of linear multi-agent systems based on the Lyapunov approach, and the Zeno-behavior is excluded. Finally, two numerical examples are provided to illustrate the effectiveness of the theoretical results.

摘要

致力于研究以无向图表征的线性多智能体系统的领导-跟随一致性。具体而言, 构造了一个自适应事件触发协议, 此协议仅使用局部相对信息, 故能以全分布式方式应用。同时, 此协议也是资源友好型的, 因为仅当智能体违背了设计的事件触发函数后, 协议方能再次更新。针对此项研究, 还提出了一个基于李雅普诺夫方法的领导-跟随一致性充分条件, 同时证明了设计的协议不会产生芝诺现象。最后, 提供了两个数值例子来说明本文方法的有效性。

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Authors and Affiliations

  1. School of Information Science and Engineering, Lanzhou University, Lanzhou, 730000, China

    Zongsheng Geng  (耿宗盛), Dongdong Zhao  (赵东东), Xingwen Zhou  (周兴文), Lei Yan  (闫磊) & Shi Yan  (阎石)

  2. Engineering Research Center of Open-Source Software and Real-Time Systems of Ministry of Education, Lanzhou University, Lanzhou, 730000, China

    Dongdong Zhao  (赵东东) & Shi Yan  (阎石)

Authors
  1. Zongsheng Geng  (耿宗盛)
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  2. Dongdong Zhao  (赵东东)
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  3. Xingwen Zhou  (周兴文)
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  4. Lei Yan  (闫磊)
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  5. Shi Yan  (阎石)
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Correspondence to Shi Yan  (阎石).

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Conflict of Interest The authors declare that they have no conflict of interest.

Additional information

Foundation item: the National Natural Science Foundation of China (Nos. U22B2040 and 62233003), and the Fundamental Research Funds for the Central Universities (No. lzujbky-2022-kb12)

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Geng, Z., Zhao, D., Zhou, X. et al. Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control. J. Shanghai Jiaotong Univ. (Sci.) (2024). https://doi.org/10.1007/s12204-024-2718-z

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  • DOI: https://doi.org/10.1007/s12204-024-2718-z

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